version: 67.00
glider: 227
mission: 5
dive: 104
start: 8 27 119 16 49 32
data:
$ID,227
$MISSION,5
$DIVE,104
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,600
$D_ABORT,800
$D_NO_BLEED,50
$D_BOOST,2
$T_BOOST,0
$D_FINISH,10
$D_PITCH,2
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,4
$SURFACE_URGENCY_TRY,4
$SURFACE_URGENCY_FORCE,8
$T_DIVE,210
$T_MISSION,300
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,100
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,72247
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00272
$HD_B,0.0117
$HD_C,1.6e-05
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,2
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,511.6958
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,0
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,3
$CALL_TRIES,3
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,10000
$T_GPS,3
$N_GPS,50860
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,160
$PITCH_MAX,3830
$C_PITCH,2150
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$PITCH_GAIN,36
$PITCH_TIMEOUT,40
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$ROLL_MIN,310
$ROLL_MAX,3940
$ROLL_DEG,60
$C_ROLL_DIVE,2280
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,13
$ROLL_CNV,0.047120001
$ROLL_TIMEOUT,30
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,550
$VBD_MAX,3960
$C_VBD,2636
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.003
$UNCOM_BLEED,400
$VBD_MAXERRORS,2
$W_ADJ_DBAND,0
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$CF8_MAXERRORS,0
$AH0_24V,575
$AH0_10V,0
$MINV_24V,0
$MINV_10V,0
$MAXI_24V,5
$MAXI_10V,2
$FG_AHR_10V,8.8707304
$FG_AHR_24V,19.96666
$PHONE_SUPPLY,2
$PRESSURE_YINT,-148.83586
$PRESSURE_SLOPE,0.00010809835
$COMPASS_USE,4
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,1.9639999e-06
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,7
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,66
$COMPASS2_DEVICE,55
$PHONE_DEVICE,33
$GPS_DEVICE,48
$RAFOS_DEVICE,104
$XPDR_DEVICE,0
$SIM_W,0
$SEABIRD_T_G,0.0043851961
$SEABIRD_T_H,0.00063407799
$SEABIRD_T_I,2.5652189e-05
$SEABIRD_T_J,2.9095588e-06
$SEABIRD_C_G,-9.6619873
$SEABIRD_C_H,1.1246239
$SEABIRD_C_I,-0.0018771546
$SEABIRD_C_J,0.00021465076
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,270819,164041,7402.989,-14740.424,47,1.4,110,17.3
$_CALLS,1
$_SM_DEPTHo,-0.33
$_SM_ANGLEo,-64.2
$GPS2,270819,164909,7403.080,-14740.504,4,0.9,40,17.3
$SPEED_LIMITS,0.165,0.234
$TGT_NAME,SODAA
$TGT_LATLONG,7300.000,-14820.200
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,142.0,118784,-17.4,-9.524,-22.18
$D_GRID,600
$GCHEAD,st_secs,flags,vbd_ctl,pitch_ctl,roll_ctl,vbd_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,pitch_ad_start,roll_ad_start,depth,ob_vertv,data_pts,end_secs,vbd_secs,pitch_secs,roll_secs,vbd_i,pitch_i,roll_i,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_ad,roll_ad,vbd_errors,pitch_errors,roll_errors,vbd_volts,pitch_volts,roll_volts
$STATE,4,end surface,CONTROL_FINISHED_OK
$STATE,4,begin dive
$GC,4.54,2,-145.99,-0.92,0.00,537.1,711.9,362.2,145.1,2182.2,0.00,0.00,0,66.97,61.88,0.00,0.00,0.005,0.000,0.000,1639.38,1655.88,1622.88,145.31,2181.31,0,0,0,15.67,30.00,30.00
$GC,67.22,295,-145.99,-0.92,60.00,1638.9,1655.2,1622.6,145.1,2179.9,3.77,-7.91,6,119.93,37.56,7.83,3.96,0.005,0.398,0.050,3230.12,3173.19,3287.06,1838.94,3569.69,0,0,0,15.64,15.49,15.63
$GC,302.16,1157,-145.99,-0.60,0.00,3232.2,3177.8,3286.6,1839.2,3569.4,75.04,-21.96,53,307.67,0.00,0.40,3.59,0.000,0.256,0.014,3232.62,3178.38,3286.88,1962.06,2233.25,0,0,0,30.00,15.68,15.69
$GC,492.12,128,-145.99,-0.54,0.00,3232.6,3178.3,3286.9,1961.9,2210.6,102.30,-13.55,73,493.45,0.00,0.00,0.00,0.000,0.000,0.000,3231.19,3176.69,3285.69,1961.69,2210.81,0,0,0,30.00,30.00,30.00
$GC,672.19,128,-145.99,-0.49,0.00,3232.5,3177.9,3287.1,1962.2,2210.3,125.38,-12.45,91,673.52,0.00,0.00,0.00,0.000,0.000,0.000,3231.25,3176.81,3285.69,1961.88,2210.44,0,0,0,30.00,30.00,30.00
$GC,852.28,129,-145.99,-0.45,0.00,3231.8,3177.6,3286.0,1961.4,2210.6,147.51,-12.19,109,853.73,0.00,0.16,0.00,0.000,0.223,0.000,3231.41,3177.94,3284.88,2009.25,2208.56,0,0,0,30.00,15.77,30.00
$GC,1032.35,128,-145.99,-0.52,0.00,3232.0,3177.6,3286.4,2009.4,2208.4,165.80,-9.91,127,1033.68,0.00,0.00,0.00,0.000,0.000,0.000,3231.19,3177.19,3285.19,2009.38,2208.62,0,0,0,30.00,30.00,30.00
$GC,1212.31,421,-145.99,-0.60,60.00,3232.3,3178.3,3286.3,2008.9,2208.6,182.85,-9.37,145,1217.88,0.00,0.17,3.82,0.000,0.107,0.054,3232.00,3177.88,3286.12,1923.88,3568.44,0,0,0,30.00,15.87,15.89
$GC,1442.41,1029,-145.99,-0.60,0.00,3231.8,3177.9,3285.8,1924.1,3568.0,210.95,-11.44,191,1447.89,0.00,0.09,3.56,0.000,0.248,0.014,3234.59,3179.69,3289.50,1960.56,2229.88,0,0,0,30.00,15.83,15.81
$GC,1632.37,676,-145.99,-0.66,-60.00,3231.3,3177.0,3285.6,1961.3,2206.2,228.59,-8.78,211,1637.86,0.00,0.00,3.46,0.000,0.000,0.047,3231.81,3178.12,3285.50,1976.44,989.06,0,0,0,30.00,30.00,15.92
$GC,1772.31,1189,-145.99,-0.76,0.00,3231.8,3178.2,3285.5,1976.6,988.9,240.21,-7.63,239,1778.26,0.00,0.18,3.61,0.000,0.105,0.021,3232.22,3178.69,3285.75,1889.06,2309.19,0,0,0,30.00,15.89,15.94
$GC,1972.43,260,-145.99,-0.76,60.00,3231.5,3177.7,3285.2,1888.7,2308.9,259.68,-9.86,254,1978.17,0.00,0.00,3.49,0.000,0.000,0.055,3233.84,3179.88,3287.81,1872.88,3567.75,0,0,0,30.00,30.00,15.94
$GC,2202.51,1157,-145.99,-0.71,0.00,3231.1,3177.7,3284.4,1872.9,3567.9,284.04,-10.31,300,2208.35,0.00,0.14,3.55,0.000,0.237,0.014,3232.53,3178.88,3286.19,1924.62,2222.31,0,0,0,30.00,15.88,15.91
$GC,2512.67,676,-145.99,-0.77,-60.00,3231.2,3179.0,3283.5,1924.4,2199.7,309.15,-7.97,312,2518.02,0.00,0.00,3.43,0.000,0.000,0.047,3231.09,3178.31,3283.88,1940.06,990.00,0,0,0,30.00,30.00,15.97
$GC,2627.37,1189,-145.99,-0.83,0.00,3230.8,3178.8,3282.9,1939.9,989.9,318.09,-7.58,335,2633.38,0.00,0.14,3.61,0.000,0.117,0.020,3230.72,3177.94,3283.50,1868.12,2311.50,0,0,0,30.00,15.93,15.98
$GC,2932.51,676,-145.99,-0.80,-60.00,3230.2,3177.9,3282.4,1867.6,2311.8,345.03,-8.74,346,2938.38,0.00,0.00,3.75,0.000,0.000,0.044,3231.19,3179.44,3282.94,1881.62,989.94,0,0,0,30.00,30.00,15.99
$GC,2952.34,1188,-145.99,-0.74,0.00,3230.2,3178.3,3282.2,1881.2,990.3,346.85,-8.79,350,2958.37,0.00,0.00,3.61,0.000,0.000,0.020,3231.78,3179.69,3283.88,1867.25,2308.19,0,0,0,30.00,30.00,15.98
$GC,3262.54,677,-145.99,-0.71,-60.00,3230.0,3178.3,3281.6,1867.4,2308.1,374.87,-9.13,362,3268.21,0.00,0.20,3.74,0.000,0.229,0.044,3230.19,3178.56,3281.81,1941.25,988.19,0,0,0,30.00,15.91,15.91
$GC,3492.44,1189,-145.99,-0.80,0.00,3229.8,3178.1,3281.6,1941.2,987.9,391.65,-7.20,408,3498.23,0.00,0.12,3.60,0.000,0.118,0.021,3232.00,3179.88,3284.12,1876.31,2310.44,0,0,0,30.00,15.96,15.99
$GC,3802.72,292,-145.99,-0.80,60.00,3229.2,3177.9,3280.5,1876.8,2311.3,392.53,-8.07,420,3808.17,0.00,0.00,3.48,0.000,0.000,0.056,3230.91,3179.12,3282.69,1859.25,3566.81,0,0,0,30.00,30.00,15.98
$GC,4032.49,1061,-145.99,-0.80,0.00,3229.0,3178.4,3279.6,1860.2,3567.9,413.67,-8.86,466,4038.55,0.00,0.09,3.53,0.000,0.242,0.013,3231.03,3179.94,3282.12,1897.75,2223.88,0,0,0,30.00,15.92,16.00
$GC,4342.91,420,-145.99,-0.84,60.00,3229.7,3179.4,3280.0,1898.2,2199.8,436.31,-7.20,478,4348.58,0.00,0.00,3.81,0.000,0.000,0.054,3231.16,3180.38,3281.94,1883.69,3568.56,0,0,0,30.00,30.00,16.01
$GC,4412.53,1060,-145.99,-0.84,0.00,3229.3,3178.2,3280.3,1883.7,3567.4,442.01,-8.28,492,4418.64,0.00,0.00,3.54,0.000,0.000,0.013,3229.50,3178.62,3280.38,1895.50,2231.19,0,0,0,30.00,30.00,16.01
$GC,4732.89,420,-145.99,-0.89,60.00,3229.4,3178.4,3280.4,1895.4,2209.2,465.25,-7.16,506,4738.35,0.00,0.00,3.79,0.000,0.000,0.053,3231.84,3179.88,3283.81,1880.56,3567.31,0,0,0,30.00,30.00,16.02
$GC,4767.64,1060,-145.99,-0.89,0.00,3229.7,3179.1,3280.3,1880.7,3569.2,468.12,-7.36,513,4773.34,0.00,0.00,3.53,0.000,0.000,0.014,3230.44,3179.31,3281.56,1887.81,2233.19,0,0,0,30.00,30.00,16.03
$GC,5092.91,420,-145.99,-0.92,60.00,3229.6,3178.4,3280.7,1887.4,2210.8,492.07,-7.30,528,5098.39,0.00,0.00,3.78,0.000,0.000,0.053,3230.66,3179.69,3281.62,1873.25,3569.12,0,0,0,30.00,30.00,16.03
$GC,5322.66,1060,-145.99,-0.92,0.00,3229.6,3178.8,3280.4,1872.9,3569.6,510.96,-8.31,574,5328.81,0.00,0.00,3.52,0.000,0.000,0.013,3229.56,3178.50,3280.62,1881.88,2232.75,0,0,0,30.00,30.00,16.04
$GC,5632.79,548,-145.99,-0.92,-60.00,3229.9,3179.5,3280.2,1882.2,2210.4,534.38,-7.45,586,5638.45,0.00,0.00,3.44,0.000,0.000,0.046,3230.12,3179.56,3280.69,1897.12,988.94,0,0,0,30.00,30.00,16.05
$GC,5742.76,1061,-145.99,-0.92,0.00,3229.9,3179.8,3280.0,1896.9,988.6,542.84,-7.60,608,5748.52,0.00,0.09,3.59,0.000,0.131,0.020,3229.72,3179.25,3280.19,1840.25,2312.56,0,0,0,30.00,16.01,16.04
$GC,6053.03,677,-145.99,-0.87,-60.00,3229.8,3179.4,3280.3,1840.2,2312.9,569.66,-8.71,620,6058.59,0.00,0.12,3.72,0.000,0.249,0.043,3230.41,3179.81,3281.00,1890.69,989.94,0,0,0,30.00,15.97,16.04
$GC,6282.79,1060,-145.99,-0.87,0.00,3230.1,3180.1,3280.1,1890.6,989.2,588.24,-7.83,666,6288.81,0.00,0.00,3.59,0.000,0.000,0.020,3231.75,3180.62,3282.88,1876.62,2309.31,0,0,0,30.00,30.00,16.06
$STATE,6443,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6443,begin apogee
$GC,6444.19,3,0.00,-0.14,0.00,3230.2,3180.0,3280.3,1876.8,2153.2,600.53,-7.69,673,6556.77,110.60,0.75,0.35,2.041,0.194,0.060,2634.44,2714.44,2554.44,2108.94,2291.19,0,0,0,12.82,15.97,15.31
$STATE,6558,end apogee,CONTROL_FINISHED_OK
$STATE,6558,begin climb
$GC,6557.91,519,145.99,0.92,-60.00,2633.8,2713.6,2553.9,2108.6,2291.8,602.33,0.00,676,6681.42,116.47,1.09,4.01,1.950,0.134,0.049,2038.97,2213.31,1864.62,2467.62,960.31,0,0,0,12.47,15.35,14.98
$GC,6803.57,1030,145.99,0.92,0.00,2030.0,2204.8,1855.2,2468.8,960.4,579.52,11.36,725,6809.39,0.00,0.00,3.74,0.000,0.000,0.020,2031.34,2206.88,1855.81,2461.75,2274.38,0,0,0,30.00,30.00,15.35
$GC,7123.52,391,145.99,0.87,60.00,2025.5,2198.2,1852.8,2461.3,2275.5,542.82,11.42,739,7129.43,0.00,0.15,3.58,0.000,0.240,0.053,2025.75,2198.38,1853.12,2404.19,3536.69,0,0,0,30.00,15.51,15.58
$GC,7183.52,1063,2937.43,9.24,0.00,2023.8,2194.9,1852.6,2404.2,3536.2,569.00,-115.11,751,7466.04,271.74,4.08,3.61,1.779,0.070,0.014,550.47,736.56,364.38,3845.81,2193.94,0,0,0,12.58,15.58,15.62
$GC,7768.28,391,2937.43,7.99,60.00,543.1,723.2,363.0,3845.3,2186.5,183.51,67.21,825,7773.99,0.00,0.00,3.85,0.000,0.000,0.037,543.38,723.38,363.38,3829.50,3541.81,0,0,0,30.00,30.00,15.43
$GC,7998.19,1031,2937.43,7.99,0.00,542.0,720.9,363.1,3830.1,3541.8,42.96,52.63,871,8003.79,0.00,0.00,3.64,0.000,0.000,0.012,542.12,720.88,363.38,3844.94,2204.62,0,0,0,30.00,30.00,15.55
$FREEZE,9.59,3.614,-1.518,2,1,0
$FREEZE,8.06,3.568,-1.514,2,1,0
$FREEZE,6.57,3.199,-1.508,2,1,0
$FREEZE,5.18,3.185,-1.502,2,1,0
$FREEZE,3.88,3.146,-1.499,2,1,0
$FREEZE,2.59,3.145,-1.497,2,1,0
$FREEZE,1.36,3.122,-1.494,2,1,0
$STATE,8159,end climb,SURFACE_DEPTH_REACHED
$STATE,8159,begin surface coast
$FREEZE,0.12,3.121,-1.493,2,1,0
$FINISH,0.1,1.021829
$STATE,8169,end surface coast,CONTROL_FINISHED_OK
$STATE,8169,begin surface
$SM_CCo,8248.07,0.00,0.000,0,540.9,719.8,362.1,513.93
$SM_GC,5.59,0.00,14.15,0.26,0.000,0.286,0.031,540.9,719.8,362.1,146.7,2360.8,0,0,0,30.00,15.47,15.64
$SUPER,51,71,254,1,0,0
$IRIDIUM_FIX,7404.51,-14745.55,270819,132826
$TCM_TEMP,6.57
$XPDR_PINGS,41
$SC_FREEKB,3777760
$RAFOS_CLK,-15
$RAFOS_FIX,7402.430176,-14740.891602,270819,191918,0,1,0.15
$HUMID,55.68
$TEMP,0.75
$INTERNAL_PRESSURE,8.47976
$24V_AH,14.54,44.328
$10V_AH,14.92,0.000
$FG_AHR_24Vo,20.124
$FG_AHR_10Vo,8.902
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,598.250,29.950,117.555,349.458,10.250,48.912,2658.808,6070.706,907.165,0.000,0.000,0.000
$DEVICE_MAMPS,2040.568,397.944,60.432,187.322,420.000,11.790,11.520,2.310,5.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8195.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.391,0.000,0.000,0.000
$MEM,1154972,35,24156,64
$DATA_FILE_SIZE,25676,889
$CAP_FILE_SIZE,231996,0
$SDSIZE,3918848,3884544
$SDFILEDIR,558,1
$ERRORS,0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$CURRENT,0.105,270.0,1
$GPS,270819,190518,7402.430,-14740.892,0,1001.0,0,17.3